ITTO20130723A1 - UNIVERSAL AUTOMATED DEVICE FOR TOWING A MEANS ON SLIDING DEVICES ABOVE A FLOOR - Google Patents

Description

Description of the Industrial Invention entitled:

"Universal automated device for towing a vehicle on sliding devices above a floor"

DESCRIPTION

The present invention relates to an automated universal device for towing a vehicle on sliding devices over a floor.

In particular, the present invention relates to a universal automated device for moving hospital beds, and possibly also stretchers, easy to use, equipped with all anti-collision and safety systems, of reduced bulk, easy directional maneuverability from part of a single operator, of high security, which does not require tracks or guidelines, which can also be used on non-straight paths and in hospital rooms, lifts, corridors and in the spaces of the diagnostic departments used for the preparation of patients , which allows a hospital to cope with the problem of the high incidence of injuries and functional limitations of operators involved in moving, by towing or manually pushing, beds and stretchers.

The problem was evaluated and solved in the health sector; however, the present invention can intercept a wider, albeit potential, supply demand and market outside the scope of beds and stretchers.

Currently, the movement of hospital beds, whether they are hospital beds with electrical or mechanical movements or stretchers, is carried out by pushing or towing by at least two operators, with a high incidence of accidents and long transport times.

Within a hospital, on average, patient bed movements of 3,000-5,000 meters per day can be carried out.

The objectives to be achieved with an innovative solution must be subject to minimum functional and performance requirements relating to its use and operation. In this case, an automated universal device for towing wheeled vehicles must:

- allow the movement of hospital beds, both those with electrical or mechanical movements, however equipped with wheels and, preferably, also stretchers;

- be universal, that is intrinsically able to adapt to the largest possible number of hospital beds known on the market, without the need for the development of ad hoc components or the affixing of customized interfaces on the device itself;

- have a secure attachment system to the hospital bed;

- be suitable for handling a total load of at least 330 kg, considering the weight of the hospital bed and the patient;

- be suitable for handling hospital beds even on non-straight paths and without tracks or guidelines;

- can be used in hospital rooms, corridors, elevators, in the areas of diagnostic departments used for the preparation of patients and in any hospital ward, with the assistance and supervision of an operator;

- ensure easy directional maneuverability and steering modes, even in confined spaces such as hospital rooms and elevators and for mixed transport, vertical and horizontal, as well as in situations with a slight slope of the floor;

- ensure ease of use even by a single operator;

- allow the operator to position himself in a comfortable and flexible way, also for example through the use of a remote control, to supervise and intervene in the bed movement operation;

- have characteristics of high intrinsic and operational safety, but are not limited to, through the provision of on-board anti-collision systems, acoustic warning of proximity and operated by the operator, standard braking and quick emergency stop;

- allow an adjustable speed of movement; - be resistant to liquids;

- have as small a footprint as possible, especially in depth, to allow use in lifts;

- ensure a high working autonomy of the electrical energy accumulator (battery); - have a warning system about the remaining battery life;

- also be equipped with a removable battery for recharging and possibly with a built-in emergency battery;

- be little noisy;

- ensure the lowest possible use and disposal / disposal costs; - ensure the cancellation or maximum reduction of environmental impacts.

With regard to installation, commissioning and management, an automated universal device for towing vehicles on wheels must:

- allow operators to have a learning curve as quickly as possible;

- be easy to install and use, without the need for calibration and adaptations;

- avoid the intervention of specialized technical personnel for the management and supervision of use;

- have charging times as short as possible; - ensure installation, management and operating costs as low as possible;

- ensure the cancellation or maximum reduction of environmental impacts;

- be equipped with a system for recording usage data, meters traveled, date and time of start and end of use, etc.

With regard to maintenance, an automated universal device for towing wheeled vehicles must:

- have self-diagnosis systems and manage / produce an automated daily check-list;

- allow assistance and remote control, remote diagnosis;

- provide for preventive maintenance times and costs as limited as possible;

- ensure corrective maintenance costs as low as possible;

- ensure the cancellation or maximum reduction of environmental impacts.

The state of the art of an automated universal device for towing wheeled vehicles, in particular hospital beds, is represented by patent application no. WO2006059200, wherein a motorized towing device of a hospital bed presses on the floor with a force between a minimum and maximum threshold value. Above the minimum threshold, a fifth wheel adheres to the floor without slipping. Below the maximum threshold, the four wheels placed at the corners of the bed rest on the floor, avoiding the risk of lifting it and making it unstable. According to the patent application n. WO2006059200, an elastic device is used, connected in a point of the bed structure and in a point sliding along a support rod of a fifth wheel, the speed of rolling on the floor of said wheel being measured by means of an effective speed sensor , the elastic device, sliding along one direction, allowing to increase the percentage of effective weight transmitted to the wheel, avoiding slippage.

The state of the art of said device is also represented by patent application no. EP1911429, wherein an apparatus for supporting a patient comprises a frame, a patient support surface, a plurality of casters, a further wheel coupled to the frame, a motor coupled to said further wheel, and a electrical system comprising a battery, a circuit for recharging the battery, a plug for recharging the AC power to the battery, and a motor controller. The apparatus includes a wheel support system capable of moving the wheel away from the floor and placing it in contact with the floor. Said wheel support system allows the apparatus to be pushed forward and backward along the floor, to the right and to the left. A command input device for speed selection and to control the direction of movement of the apparatus is placed at the head, feet and in both side walls of the patient support apparatus.

In view of the state of the art, the object of the present invention is to provide a motorized towing device for a wheeled vehicle, capable of adequately pressing on the floor, in different adherence conditions, from a smooth and wet floor to a dry and rough, keeping the bed firmly resting on the floor during movement.

Further objects of the present invention are: to make possible a new electric driving experience, silent and comfortable, controlled by a single operator; propose a new solution in the safety sector, using a driving system that is as automated and safe as possible; prepare a towing device for the application of a new assisted driving system remotely, by remote control to maneuver the vehicle in confined spaces; prepare the vehicle for the application of a 360 ° video sensor system, able to proceed fully automatically to destinations located in a hospital area and beyond.

Simultaneously with the development of sensors in the automotive field, further objects of the present invention are: to be able to drive in a piloted manner by means of the combination of control systems, up to a fully automated driving system (electronic pilot); use a stereoscopic video sensor capable of perceiving distances, and sensors that allow an even more precise three-dimensional perception of the surrounding environment; prepare the device for a more complete electronics architecture through a double bus system, as well as with a constant plausibility check of the data detected by the sensors; being able to apply an information system to the driver activated by simple voice commands, to prevent the driver from being inundated with information, favoring automated driving in a simple context.

In accordance with the present invention, as claimed in claim 1, said purposes are achieved by means of an automated universal device for towing a vehicle on sliding devices over a floor, comprising a support joining the vehicle to an axle of at least one wheel, said wheel being in contact with the floor and being connected to a motor transmitting a torque, characterized in that the axle slides along a surface belonging to an element connected to said support.

The characteristics of the present invention will become more evident from the following description of a practical embodiment thereof, illustrated by way of non-limiting example in the attached drawings, in which:

Figure 1 shows a diagram of a wheeled vehicle to be towed by means of an automated universal device;

Figure 2 shows a diagram of the wheeled vehicle of Figure 1 connected to an automated universal device object of the invention;

Figure 3 shows a diagram of the automated universal device of Figure 2;

Figures 4, 5, show a diagram of an automated universal device, having an attitude centered on the axis of rotation of a driving wheel;

Figures 6, 7 show a diagram of an automated universal device, having an attitude centered on the center of instantaneous rotation of a driving wheel;

Figures 8, 9 show an axonometric view of an automated universal device, object of the invention, in a configuration corresponding to an "unhooked bed"; figures 10, 11 show an orthogonal projection view of the device of figures 8, 9;

figure 12 shows an enlarged detail XII of figure 11;

figure 13 shows an axonometric view of an automated universal device, object of the invention, in a configuration corresponding to "bed hooked";

Figure 14 shows an enlarged detail XIV of Figure 13;

figures 15, 16, 18 show an orthogonal projection view of figure 13;

figures 17, 19 show an enlarged detail, XVII and XIX, respectively of figure 16 and figure 18;

figures 20, 21 show an axonometric view of the automated universal device of figure 13;

figures 22, 23, 24 show an orthogonal projection view of figures 20, 21;

figures 25, 26 show an axonometric view of a motorized axis, a slide and a gripper block, belonging to the automated universal device object of the invention; figures 27, 28, 29 show an orthogonal projection view of figures 25, 26;

figures 30, 31 show an exploded axonometric view of figures 25, 26;

figures 32, 33, show an axonometric view of the motorized axis, of figures 25, 26, formed by an axle and a support system;

figure 34, shows an axonometric view of the axle of figures 32, 33;

figure 35 shows a front view of figure 34;

Figure 36 shows a sectional view along the line XXXVI-XXXVI of Figure 35;

figures 37, 38 show enlarged details XXXVII and XXXVIII of figure 36;

figures 39, 40 show an axonometric view of the support system of figures 32, 33;

Figure 41 shows a plan view of Figures 39, 40;

Figure 42 shows a section view along the line XLII-XLII of Figure 41;

figure 43 shows an axonometric view of a motorized auxiliary device, of figures 39, 40;

figure 44 shows a plan view of figure 43;

figure 45 shows a sectional view along the line XLV-XLV of figure 44;

figure 46 shows an axonometric view of a rod, of figures 39, 40;

figure 47 shows a plan view of figure 46;

Figure 48 shows a sectional view along the line XLVIII-XLVIII of Figure 47;

figure 49 shows an axonometric view of a sliding element, of figures 39, 40;

figure 50 shows a plan view of figure 49;

Figure 51 shows a sectional view along the line L1-L1 of Figure 50;

figure 52 shows an axonometric view of a support, of figures 39, 40;

figures 53, 54 show an axonometric view of the slide of figures 25, 26;

figure 55 shows an enlarged detail LV of figure 54;

figure 56 shows a plan view of figures 53, 54;

figure 57 shows a sectional view along the line LVII-LVII of figure 56;

figures 58, 59 show an axonometric view of the gripper block, of figures 25, 26, comprising a frame;

figures 60, 61 show an axonometric view of the frame of figures 58, 59;

figures 62, 63, 64, show a drawing of a bed towing by assisted thrust with the aid of the towing device object of the invention;

figure 65 shows an axonometric view of the device object of the invention, hooked to the bed and assisted, by means of an electrical axis connection, by a second motorized means on a wheel;

Figure 66 shows a drawing of a bed according to the configuration of Figure 65.

An automated universal device 1, for towing vehicles on wheels, belongs to a system comprising a bed 2, occupied by a patient (not shown), resting on a floor 3 by means of wheels 4 (figures 1, 2).

The wheels 4 are free to roll on the floor 3. Usually they are four in number and at least two of them are, moreover, free to rotate with respect to a vertical axis (casters) allowing a directionality of the bed.

The universal automated device 1 is a motorized device to counteract friction, air, roughness and inclination of the ground.

With reference to Figure 3, the device 1 comprises an axle 5, free to slide along an inclined surface S, planar or cylindrical or of other geometric shape. The surface S is connected to the bed 2 by means of a support 7, connected to a frame 21 supporting the wheels 4 of the bed 2.

The axle 5 supports a motor M connected to a wheel W, which transmits a drive torque T to the floor 3, exploiting the force of gravity Fg induced by the bed occupied by the patient, to counteract friction, air, roughness and inclination of the ground, by means of a force Ft = Fg * tg α, in which α represents the angle of inclination of the inclined surface S with respect to a horizontal plane.

With reference to figures 4, 5, 6, 7, the inclined surface S can vary the inclination of the angle α by means of an auxiliary motorized device AUX.

A sliding element 8 is free to rotate with respect to a center 81 by means of supports 82 fixed to the support 7. The motorized auxiliary device AUX allows a forward and backward movement of a rod L with respect to the support 7. One end of the rod L is hinged at a point L1, roughly peripheral, of the sliding element 8.

The motorized auxiliary device AUX allows you to vary the angle of inclination α, by rotating the sliding element 8, moving the rod L forwards and backwards.

In figures 4, 5, the center of rotation 81 of the sliding element 8 is at a height, above the floor 3, close to or equal to the radius of the wheel W.

In figures 6, 7, the center of rotation 81 of the sliding element 8 is at a height close to or equal to the plane of the floor 3.

With the same displacement of the rod L, a sliding element 8 with a small radius of curvature allows a high readiness during the maneuver to change the angle α (Figures 4, 5). While a sliding element 8 with a large radius of curvature, in particular with the center 81 close to the floor 3, involves a micro translation of the wheel W along the inclined surface S (Figures 6, 7).

On the other hand, a sliding element 8 with a small radius of curvature finds little space to contain all the components of the device 1, while a sliding element 8 with a large radius of curvature, in particular with the center 81 close to the floor 3, allows a smaller housing. of the components making up the device 1.

The following description of the device 1 refers to a configuration with a sliding element 8 having the center of rotation 81 close to the floor 3 (Figures 6, 7). However, it is possible to extrapolate the description to a variant of device 1 having the center of rotation 81 in any other position, in particular in a point close to the height of the axis of the wheel W.

The device 1 is used in two distinct time phases, depending on whether it is unhooked or hooked to bed 2.

With reference to figures 8 to 12, with the bed 2 unhooked, the operator (not shown) moves the device 1 like a suitcase on wheels (trolley), by means of an extendable handle 50 and idle wheels 60, to example in number of four, for the horizontal support on the floor 3, or in number of two, for towing by means of the handle 50.

With the bed 2 released, the device 1 can easily slide under the bed 2 without encountering any type of obstacle.

With reference to figures 13 to 19, with the bed 2 hooked up, the operator (not shown) intervenes on the device 1 no longer directly, but by pushing the bed 2, or remotely, for example through a remote control (not shown) . Handle 50 is fully retracted. The idle wheels 60 are detached from the floor 3. A pair of wheels 117 rests on the floor 3. The device 1 is fixed to the frame 21 of the bed 2 by means of locking levers 40 (Figure 19).

The extendable handle 50 is connected to a system of levers (not shown) which allows the idle wheels 60 to rise with respect to the floor 3 and, at the same time, to the locking levers 40 to rise, locking the frame 21 of the bed 2.

By retracting the handle 50, the device 1 hooks the bed 2. At the same time, the system of levers connected to the handle 50 activates a switch which allows the device 1 to be electrically powered, providing in particular a stall torque to the electric motors connected to the respective wheels 117 At this point the operator can lift the brakes of the wheels 4 belonging to the bed 2, which, being connected to the device 1 through the locking levers 40, remains blocked by the stall torque applied to each wheel 117.

The operator pushes the bed 2 to make the electric motors of the wheels 117 intervene, triggering a transmission operation of the drive torque on the wheels 117 in a differential way, in order to be able to make curves, curvilinear trajectories, forwards and backwards, as described below ( figures 62, 63, 64).

Using a handheld device (not shown), or another remote control system, it is possible to carry out the movement of bed 2 remotely. In particular, a second motorized means on a wheel, 1-bis, is connected in an electrical axis with the device 1, as described below (figures 65, 66).

With reference to figures 20 to 24, the device 1 is contained in a casing, consisting of a bottom 101 and a cover 102, both provided with recesses to house the extendable rod of the handle 50, the driving wheels 117, the wheels idlers 60, the locking levers 40, sensors 70 to define the surrounding space during the towing of the bed.

With reference to Figures 25 to 31, the device 1 is substantially formed by a motorized axis 10, a slide 20, a gripper block 30.

With reference to figures 32, 33, the motorized axis 10 is formed by an axle 110 and a support system 150.

With reference to figures 34 to 38, the axle 110 is symmetrical with respect to an axis 111 and is formed by a balance bracket 112 extended in both directions along an axis perpendicular to the axis 111 and bounded by a pair of flanges 113.

Each flange 113 supports a cylinder 114, closed at the periphery by a cylindrical plate 115 on which bearings are keyed for the rotation of a shaft 116 integral with the wheel 117.

Each flange 113 also supports an electric motor 118 protruding towards the axis of symmetry 111.

With reference to Figure 37, a shaft 119, coming out of the electric motor 118, is connected to a fast shaft 121 of a speed reducer, connected to the flange 113 and contained in the cylinder 114. An output wheel 122 of said speed reducer is fixed to shaft 116 integral with wheel 117.

According to a preferred version, the speed reducer is of the hypocycloidal gear type, allowing the electric motor 118, the input and output shaft 121, 122 of the speed reducer to be aligned with the rotation axis of the wheel 117. same.

With reference to Figure 38, the balance bracket 112 is formed by a central transverse hub 123, crossed by a cylindrical through hole 124, aligned with the axis of symmetry 111, in which a cylindrical recirculating ball sleeve 125 is housed, delimited at both ends by a pair of rubber shockproof rings 126.

With reference to Figures 39 to 42, the support system 150 is formed by a sliding element 151, hinged with respect to a support 152 by means of pairs of bearings 153, 154, 155.

A cylindrical pin 156, having a central axis 157, is arranged along a chord of the sliding element 151 and fixed on perforated shoulders 158 integral with the sliding element 151.

A motorized auxiliary device 160 comprises an electric motor 161 connected to a speed reducer 162 through a flange 163 hinged with respect to the support 152 through a pair of hinges 164-181.

An output shaft of the electric motor 161 is connected to an input shaft 165 of the speed reducer 162, an output shaft 166 of said speed reducer being integral with a worm screw 167 (Figure 45).

A rod 170 is connected to the worm 167 by means of a nut 171 and is hinged at a peripheral point of the sliding element 151 through a hinge 172-182 (figures 48, 51).

The support 152 comprises a central plate 159 provided with a central cylindrical pin 183, possibly occupied by an axial bearing 184 (Figure 52).

With reference to figures 34 and 39, the axle 110 is connected to the support system 150 by sliding linear coupling of the cylindrical recirculating ball sleeve 125 along the cylindrical pin 156.

In this way, the axle 110 is free to rototranslate with respect to the axis of symmetry 111, the latter being aligned with the central axis 157 of the pin 156.

With reference to Figures 40 and 42, the motorized device 160 allows the rod 170 to move back and forth according to the angular position imparted to the worm 167, thus allowing the sliding element 151 to rotate with respect to the axis of rotation defined by the bearings 153, 154, 155, fixed on the support 152, obtaining the variation of the inclination of the central axis 157.

With reference to Figures 53 to 57, the slide 20 is formed by a plate 201 perforated in the center, of uniform thickness and shaped so as to assume a stiffened folded shape and delimited by lowered bands 202.

The plate 201 is occupied in the center by a perforated cylinder 210 in which a radial bearing 211 is housed. A double pair of blocks 220 fixed along the lateral bands 202, allows the sliding of the slide 20 along linear guides 320 (figure 60), fixed along the edges of the gripper block 30, as described below.

With reference to Figures 58 to 61, the gripper block 30 comprises a frame 310 in bent sheet metal which supports the pair of parallel linear sliding guides 320.

Frame 310 houses electrical, electronic, power supply and electrical energy storage components.

In particular, said components comprise (figures 58, 59): a battery module 330, control and power unit 340 connected to the electric motors 118, each connected to the respective wheel 117, control and power unit 350, connected to the electric motor 161, in turn connected to the support system 150.

In addition, components not shown may include: electronic control and command board of device 1, reserve battery.

In particular, the frame 310 supports: the set of locking levers 40, used to firmly connect the clamp block 30 to the supporting structure of the bed 2; a pair of telescopic rods 51 connected to the handle 50; the idle wheels 60 used for transporting the device in the unhooked bed 2 phase; the system of levers (not shown) for synchronizing the lifting of the idle wheels 60 and the locking levers 40, with the contact of the wheels 117 with respect to the floor 3.

A mechanical device (not shown), possibly electrically motorized, allows the automated movement of said lever system.

With reference to figure 31, the motorized axis 10 is free to rotate with respect to the slide 20, by means of the cylindrical coupling between the central pin 183 and the radial bearing 211, axially locked through the axial bearing 184 abutting the plate 201 .

With reference to Figure 30, the slide 20 in turn is free to slide with respect to the gripper block 30, by means of the linear sliding of the blocks 220 along the respective seats of the sliding guides 320.

An angular rotation, relative to the motorized axis 10 and to the slide 20, is elastically contrasted by load cells (not shown) which have the task of translating an elastic displacement into an electrical voltage signal which is sent to a controller (not shown). shown) of device 1.

A linear translation, relative to the slide 20 and to the gripper block 30, is elastically contrasted by at least one load cell (not shown) which has the task of translating an elastic displacement into an electrical voltage signal which is sent to the controller (not shown) of device 1.

During the locked bed phase, both when the operator pushes the bed 2 to activate the assisted movement, both when the operator uses a remote control to transmit the assisted movement commands, and when the bed 2 must remain stationary on a horizontal floor or inclined, the controller of the device 1 manages the real-time operation of the motorized auxiliary device 160, by setting a certain value of the angle of inclination of the sliding element 151, corresponding to a certain dynamic equilibrium of the bed 2, by means of device 1.

The towing of the bed 2 by means of the device 1 takes place in the manner described below.

The device 1 has the handle 50 retracted. Then the locking levers 40 firmly lock the frame 21 of the bed 2. The wheels 117 transmit to the floor 3 a stall torque which keeps the bed 2 stationary.

The operator pushes the bed 2 through the perimeter structure, or through the mattress, applying a small force Fa, in the head-to-toe direction, or in the opposite direction, foot-to-head (figure 62).

The force Fa is sufficient to move the bed 2, integral with the gripper block 30, with respect to the slide 20, the latter being connected to the wheels 117 locked to the ground, triggering the load cell which allows to activate the motors 118 through a program managed by the controller of device 1. The direction and point of application of Fa is such as to make the pair of wheels 117 rotate in phase, imparting to the bed 2 an amplified thrust 2FA.

The operator pushes the bed 2, when stationary, by applying a small force Fb, in a transverse direction, at the height of the head or feet, from the right or left (Figure 63). The force Fb is sufficient to move the bed 2, integral with the gripper block 30, and now also with the slide 20 by virtue of the orthogonality between the displacement and linear guides 320, with respect to the motorized axis 10, the latter being connected to the locked wheels 117 ground, triggering the respective load cell which allows the motors 118 to be activated through a program managed by the controller of device 1. The direction and point of application of Fb is such as to make the pair of wheels 117 rotate in counterphase, giving the bed 2 a rotation with a pair of amplified forces FB.

The operator pushes the bed 2, imparting a combination of forces Fa and Fb, allowing the motion of the bed 2 along curvilinear trajectories of different curvature (Figure 64).

The operator uses a palmtop equipped with keys or similar (joystick) to move the bed 2. The remote control transmits to the controller of the device 1 the commands to generate a combination of forces FA, FB, according to the configurations of figures 62, 63, 64 , without the input of the forces Fa, Fb.

Finally, the operator can move on board a 1-bis device. This second means of transport has been suitably connected in electrical axis to the device 1, in order to be able to move the bed 2 (figures 65, 66).

According to a variant, not shown, of the motorized device 1, the frame 310, belonging to the gripper block 30 (Figures 58 to 61), and the casing, consisting of the bottom 101 and the cover 102 (Figures 20 to 24), can constitute a single monocoque frame in light metal or plastic alloy, with a load-bearing structural function and in which the motorized axis 10 and the slide 20 are housed. electrical and electronic components and the battery, the latter being of the extractable type.

The device 1 fulfills the objectives set by means of a solution without active elastic suspensions, allowing to obtain a compact vehicle, easily insertable under the vehicle to be towed, stable and repetitive, of low cost.

The architecture of the device 1 is aligned with the latest generation automotive one, projected to an electronic integration to facilitate use and learning for safety purposes.

Claims (10)

CLAIMS 1. Universal automated device (1) for towing a vehicle (2) on sliding devices (4) above a floor (3), in particular for towing a hospital bed or a stretcher, of the sliding type on idle wheels ( 4), comprising a support (7, 152) joining the means (2) to an axle (5, 110) of at least one wheel (W, 117), said wheel (W, 117) being in contact with the floor (3 ) and being connected to a motor (M, 118) transmitting a torque (T), characterized by the fact that the axle (5, 110) slides along a surface (S, 156) belonging to an element (8, 151 ) connected to said support (7, 152). 2. Automated universal device (1) according to claim 1, characterized in that the element (8, 151) is able to move back and forth, along a trajectory defined by supports (82, 153, 154, 155), to by means of an auxiliary device (AUX, 160), in particular the element (8, 151) is able to follow a circular trajectory. 3. Automated universal device (1) according to claim 1, characterized in that the axle (110) supports a pair of coaxial wheels (117) along an axis perpendicular to an axis of symmetry (111) and electric motors (118) , and in that said axle (110) is free to slide and rotate with respect to a pin (156) integral with the element (151) and aligned with respect to said axis of symmetry (111). 4. Automated universal device (1) according to claim 1, characterized in that a slide (20) slides along linear guides (320) applied to a gripper block (30) firmly connected to the means (2) by means of levers locking (40), and by the fact that said slide (20) rotates with respect to a central pin (183) integral with the support (152). 5. Automated universal device (1), according to claim 4, characterized in that it is elastically connected to the medium (2) and in that an elastic deformation, relative to the device (1) and to the medium (2), is impressed by a combination of forces (Fa, Fb) applied to the medium (2). 6. Universal automated device (1), according to one of the preceding claims, characterized in that a control system manages the motion of the device (1) according to the value of measurements of physical quantities relating to the device (1) and to the medium ( 2), as well as the environment in which the device (1) is immersed, said 7. Automated universal device (1), according to claim 6, characterized in that the control system of the device (1) manages the real-time operation of the motorized auxiliary device (160) by setting a certain value of the angle of inclination of the 'element (151). 8. Universal automated device (1), according to claim 6, characterized in that the torque (T) is impressed by means of a remote control or by means of a command from a second motorized means on wheel (1-bis) connected in an electrical axis with the device (1). 9. Automated universal device (1), according to claim 6, characterized in that an angular rotation and a linear translation, relative to the support (152) and to the means (2), are elastically opposed by respective load cells controlled by the device control system (1). 10. Automated universal device (1), according to claim 6, characterized in that, a small force (Fa) along an axis orthogonal to the axis of rotation of the coaxial wheels (117) pushes the means (2) triggering a rotation in phase of the pair of coaxial wheels (117), and a small force (Fb) along an axis parallel and not coincident to the rotation axis of the coaxial wheels (117) pushes the vehicle (2) triggering a counter-phase rotation of the pair of wheels coaxial (117).